VoronoiSegmentDisplay.cpp

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/*
 * Copyright (c) 2012, Willow Garage, Inc.
 * All rights reserved.
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 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
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 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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#include <OGRE/OgreSceneNode.h>
#include <OGRE/OgreSceneManager.h>
 
#include <tf/transform_listener.h>
 
#include <rviz/visualization_manager.h>
#include <rviz/properties/color_property.h>
#include <rviz/properties/float_property.h>
#include <rviz/properties/int_property.h>
#include <rviz/frame_manager.h>
 
 
#include <tuw_multi_robot_rviz/VoronoiSegmentDisplay.h>
#include <tuw_multi_robot_rviz/VoronoiSegmentVisual.h>
 
namespace tuw_multi_robot_rviz
{
 
 
// The constructor must have no arguments, so we can't give the
// constructor the parameters it needs to fully initialize.
VoronoiSegmentDisplay::VoronoiSegmentDisplay() {
    color_path_property_ = new rviz::ColorProperty ( "Path Color", QColor ( 50, 51, 204 ),
            "Color to draw the path.",
            this, SLOT ( updatePathColor() ) );
 
        scale_path_property_ = new rviz::FloatProperty ( "Path Scale", 1,
            "Scale of the path points.",
            this, SLOT ( updatePathScale() ) );
                scale_path_property_->setMin ( 0 );
                scale_path_property_->setMax ( 1 );
                
        
    history_length_property_ = new rviz::IntProperty ( "History Length", 1,
            "Number of prior measurements to display.",
            this, SLOT ( updateHistoryLength() ) );
    history_length_property_->setMin ( 1 );
    history_length_property_->setMax ( 100000 );
}
 
// After the top-level rviz::Display::initialize() does its own setup,
// it calls the subclass's onInitialize() function.  This is where we
// instantiate all the workings of the class.  We make sure to also
// call our immediate super-class's onInitialize() function, since it
// does important stuff setting up the message filter.
//
//  Note that "MFDClass" is a typedef of
// ``MessageFilterDisplay<message type>``, to save typing that long
// templated class name every time you need to refer to the
// superclass.
void VoronoiSegmentDisplay::onInitialize() {
    MFDClass::onInitialize();
    updateHistoryLength();
}
 
VoronoiSegmentDisplay::~VoronoiSegmentDisplay() {
}
 
// Clear the visuals by deleting their objects.
void VoronoiSegmentDisplay::reset() {
    MFDClass::reset();
    visuals_.clear();
}
 
// Set the current color values for each visual.
void VoronoiSegmentDisplay::updatePathColor() {
    Ogre::ColourValue color = color_path_property_->getOgreColor();
    for ( auto& visualsI: visuals_ ) { visualsI->setPathColor ( color ); }
}
 
// Set the number of past visuals to show.
void VoronoiSegmentDisplay::updateHistoryLength() {
    visuals_.rset_capacity ( history_length_property_->getInt() );
}
 
void VoronoiSegmentDisplay::updatePathScale()
{
        float scale = scale_path_property_->getFloat();
        for ( auto& visualsI: visuals_ ) { visualsI->setPathScale ( scale ); }
}
 
// This is our callback to handle an incoming message.
void VoronoiSegmentDisplay::processMessage ( const  tuw_multi_robot_msgs::Graph::ConstPtr& msg ) {
    // Here we call the rviz::FrameManager to get the transform from the
    // fixed frame to the frame in the header of this Imu message.  If
    // it fails, we can't do anything else so we return.
    Ogre::Quaternion orientation;
    Ogre::Vector3 position;
    if ( !context_->getFrameManager()->getTransform ( msg->header.frame_id,
            msg->header.stamp,
            position, orientation ) ) {
        ROS_DEBUG ( "Error transforming from frame '%s' to frame '%s'",
                    msg->header.frame_id.c_str(), qPrintable ( fixed_frame_ ) );
        return;
    }
 
    // We are keeping a circular buffer of visual pointers.  This gets
    // the next one, or creates and stores it if the buffer is not full
    boost::shared_ptr<VoronoiSegmentVisual> visual;
    if ( visuals_.full() ) {
        visual = visuals_.front();
    } else {
        visual.reset ( new VoronoiSegmentVisual ( context_->getSceneManager(), scene_node_ ) );
    }
 
    // Now set or update the contents of the chosen visual.
    visual->setMessage          ( msg );
    visual->setFramePosition    ( position );
    visual->setFrameOrientation ( orientation );
    
    visual->setPathColor     ( color_path_property_->getOgreColor() );
 
    // And send it to the end of the circular buffer
    visuals_.push_back ( visual );
}
 
 
} // end namespace rviz_plugin_tutorials
 
// Tell pluginlib about this class.  It is important to do this in
// global scope, outside our package's namespace.
#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS(tuw_multi_robot_rviz::VoronoiSegmentDisplay,rviz::Display )
// END_TUTORIAL